EP3881981A4 - AUTOMATIC TEACHING SYSTEM - Google Patents

AUTOMATIC TEACHING SYSTEM Download PDF

Info

Publication number
EP3881981A4
EP3881981A4 EP20848684.5A EP20848684A EP3881981A4 EP 3881981 A4 EP3881981 A4 EP 3881981A4 EP 20848684 A EP20848684 A EP 20848684A EP 3881981 A4 EP3881981 A4 EP 3881981A4
Authority
EP
European Patent Office
Prior art keywords
teaching system
automatic teaching
automatic
teaching
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP20848684.5A
Other languages
German (de)
French (fr)
Other versions
EP3881981A1 (en
Inventor
Genji Nakayama
Yoshio HIGASHI
Yoshikazu Hayashi
Hiroyuki Suzuki
Hideo Shiwa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Taikisha Ltd
Original Assignee
Taikisha Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Taikisha Ltd filed Critical Taikisha Ltd
Publication of EP3881981A1 publication Critical patent/EP3881981A1/en
Publication of EP3881981A4 publication Critical patent/EP3881981A4/en
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/4202—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the program medium using a drawing, a model
    • G05B19/4207—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the program medium using a drawing, a model in which a model is traced or scanned and corresponding data recorded
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0038—Other grinding machines or devices with the grinding tool mounted at the end of a set of bars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0081—Program-controlled manipulators with leader teach-in means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • B24B19/26—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding workpieces with arcuate surfaces, e.g. parts of car bodies, bumpers or magnetic recording heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Program controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36248—Generate automatically machining, stitching points from scanned contour
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36282—Divide complex sculptured surface into smaller, easier to machine areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40425—Sensing, vision based motion planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45096—Polishing manipulator

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
EP20848684.5A 2020-01-24 2020-08-27 AUTOMATIC TEACHING SYSTEM Ceased EP3881981A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020009997A JP6903777B1 (en) 2020-01-24 2020-01-24 Automatic teaching system
PCT/JP2020/032317 WO2021149295A1 (en) 2020-01-24 2020-08-27 Automatic teaching system

Publications (2)

Publication Number Publication Date
EP3881981A1 EP3881981A1 (en) 2021-09-22
EP3881981A4 true EP3881981A4 (en) 2022-04-13

Family

ID=76753197

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20848684.5A Ceased EP3881981A4 (en) 2020-01-24 2020-08-27 AUTOMATIC TEACHING SYSTEM

Country Status (5)

Country Link
US (1) US12050457B2 (en)
EP (1) EP3881981A4 (en)
JP (1) JP6903777B1 (en)
CN (1) CN113474132B (en)
WO (1) WO2021149295A1 (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220032461A1 (en) * 2020-07-31 2022-02-03 GrayMatter Robotics Inc. Method to incorporate complex physical constraints in path-constrained trajectory planning for serial-link manipulator
JP2023004016A (en) * 2021-06-25 2023-01-17 セイコーエプソン株式会社 Program creation apparatus and program
JPWO2023286737A1 (en) 2021-07-13 2023-01-19
CN113344952B (en) * 2021-07-28 2021-11-19 浙江华睿科技股份有限公司 A kind of edge trimming method, device and electronic equipment
KR102695579B1 (en) * 2022-02-16 2024-08-19 한국유지건설(주) AI robot system for provides painting and maintenance functions for water tank structures
CN114707253B (en) * 2022-05-25 2022-08-26 南京航空航天大学 Feature-guidance-based three-dimensional measurement robot scanning track optimization method
CN117696296A (en) * 2022-09-09 2024-03-15 上海科技大学 Automatic spraying robot applied to door industry, spraying method and terminal
CN116852374B (en) * 2023-08-08 2024-04-26 深圳创劲鑫科技有限公司 Intelligent robot control system based on machine vision

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020111709A1 (en) * 2001-02-14 2002-08-15 Xerox Corporation Apparatus and method for determining a reference position for an industrial robot
JP2010221381A (en) * 2009-03-25 2010-10-07 Fuji Xerox Co Ltd Method for assembling part and device for assembling the part
US20110282492A1 (en) * 2009-02-03 2011-11-17 Ken Krause Method of controlling a robotic tool
US20160271796A1 (en) * 2015-03-19 2016-09-22 Rahul Babu Drone Assisted Adaptive Robot Control
US20180326591A1 (en) * 2015-11-09 2018-11-15 ATENSOR Engineering and Technology Systems GmbH Automatic detection and robot-assisted machining of surface defects

Family Cites Families (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3340143B2 (en) * 1991-09-27 2002-11-05 マツダ株式会社 Polishing tool control device
JPH05289722A (en) * 1992-04-08 1993-11-05 Kobe Steel Ltd Automatic programming device for painting robot
US5851248A (en) 1992-10-02 1998-12-22 Nordson Corporation Filter cartridge assembly for powder coating booth and collection system
JPH06285762A (en) * 1993-04-06 1994-10-11 Mitsubishi Electric Corp Method of teaching optional curve surface to robot
JPH07168617A (en) * 1993-06-25 1995-07-04 Matsushita Electric Works Ltd Off-line teaching method for robots
JPH07185421A (en) 1993-10-14 1995-07-25 Nordson Corp Powder coating booth and collector
JPH09179619A (en) * 1995-12-25 1997-07-11 Matsushita Electric Works Ltd How to set the trajectory of a painting robot
JPH09244723A (en) * 1996-03-06 1997-09-19 Toyota Autom Loom Works Ltd Industrial robot teaching data creating method, industrial robot teaching data creating apparatus, and industrial robot system
JP3517529B2 (en) * 1996-08-21 2004-04-12 株式会社東芝 Image input type robot system
CA2327846A1 (en) * 1999-12-08 2001-06-08 Nmf Canada Inc. Improved automated method and apparatus for aircraft surface finishing
JP2003144990A (en) * 2001-11-15 2003-05-20 Mazda Motor Corp Coating method and apparatus using multiple coating machines
JP4285093B2 (en) * 2003-06-09 2009-06-24 日産自動車株式会社 How to create a machining path for a workpiece
JP2005040682A (en) 2003-07-25 2005-02-17 Anest Iwata Corp Color changeable powder coating booth
JP2007065795A (en) * 2005-08-29 2007-03-15 Nissan Motor Co Ltd Machining path creation method
JP4609399B2 (en) 2006-08-28 2011-01-12 パナソニック電工株式会社 Embedded equipment
DE102007040898A1 (en) 2007-08-24 2009-10-01 Dürr Systems GmbH Method for introducing aid material into flow path of crude gas flow, involves detecting whether there is sufficient crude gas flow through filter element, where introduction of aid material is carried out into flow path of crude gas flow
JP5222178B2 (en) 2009-02-17 2013-06-26 株式会社大気社 Painting booth equipment
JP2010276447A (en) * 2009-05-28 2010-12-09 Seiko Epson Corp POSITION MEASURING DEVICE, POSITION MEASURING METHOD, AND ROBOT SYSTEM
SG182880A1 (en) * 2011-02-01 2012-08-30 Univ Singapore A method and system for interaction with micro-objects
DE102011108631A1 (en) 2011-07-27 2013-01-31 Eisenmann Ag Method and device for separating overspray and installation with such
JP5664629B2 (en) * 2012-10-19 2015-02-04 株式会社安川電機 Robot system and method of manufacturing processed product
US20140113525A1 (en) * 2012-10-22 2014-04-24 Apple Inc. Methods for finishing surfaces using tool center point shift techniques
JP6088583B2 (en) * 2015-06-08 2017-03-01 ファナック株式会社 Robot controller with robot and force display function
ITUB20153323A1 (en) 2015-09-01 2017-03-01 Geico Spa Spray booth with automated filtering system
CN105643399B (en) * 2015-12-29 2018-06-26 沈阳理工大学 The complex-curved automatic grinding-polishing system of robot and processing method based on Shared control
JP6637928B2 (en) 2017-06-21 2020-01-29 株式会社大気社 Automatic polishing system
JP6713015B2 (en) * 2018-04-13 2020-06-24 株式会社大気社 Automatic polishing system
CN109976259B (en) * 2019-03-19 2022-07-08 南京工程学院 VTK-based robot free-form surface workpiece polishing offline programming method
CN109927028A (en) * 2019-03-26 2019-06-25 中国科学院宁波材料技术与工程研究所 A kind of force-location mix control method of power man-controlled mobile robot polishing processing
CN110665707B (en) 2019-10-18 2021-12-14 马鞍山远荣机器人智能装备有限公司 Automatic spraying robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020111709A1 (en) * 2001-02-14 2002-08-15 Xerox Corporation Apparatus and method for determining a reference position for an industrial robot
US20110282492A1 (en) * 2009-02-03 2011-11-17 Ken Krause Method of controlling a robotic tool
JP2010221381A (en) * 2009-03-25 2010-10-07 Fuji Xerox Co Ltd Method for assembling part and device for assembling the part
US20160271796A1 (en) * 2015-03-19 2016-09-22 Rahul Babu Drone Assisted Adaptive Robot Control
US20180326591A1 (en) * 2015-11-09 2018-11-15 ATENSOR Engineering and Technology Systems GmbH Automatic detection and robot-assisted machining of surface defects

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
PUSHCORP: "Deburring | Engine Block & Pipe | AFD & STC | End Of Arm Robotic Tooling", 24 April 2018 (2018-04-24), XP093125896, Retrieved from the Internet <URL:https://www.youtube.com/watch?v=8uzrGi4zILg&list=PLiWXC5mNEybE2gHDBZHucscoVjjXFSSx5&index=7> [retrieved on 20240131] *
PUSHCORP: "Deburring | Engine Block | AFD & STC | End Of Arm Robotic Tooling", 16 November 2017 (2017-11-16), XP093125898, Retrieved from the Internet <URL:https://www.youtube.com/watch?v=3Nx26nz1Z9Q&list=PLiWXC5mNEybE2gHDBZHucscoVjjXFSSx5&index=3> [retrieved on 20240131] *
See also references of WO2021149295A1 *
XEBEC TECHNOLOGY ENGLISH: "EMO2019 XEBEC Brush_ Deburring and polishing", 1 November 2019 (2019-11-01), XP093125900, Retrieved from the Internet <URL:https://www.youtube.com/watch?v=vxsD0I9Svt0> [retrieved on 20240131] *

Also Published As

Publication number Publication date
US12050457B2 (en) 2024-07-30
CN113474132A (en) 2021-10-01
WO2021149295A1 (en) 2021-07-29
EP3881981A1 (en) 2021-09-22
JP2021115656A (en) 2021-08-10
JP6903777B1 (en) 2021-07-14
CN113474132B (en) 2022-09-20
US20220113711A1 (en) 2022-04-14

Similar Documents

Publication Publication Date Title
EP4111876A4 (en) SMOKE SYSTEM
EP4133383A4 (en) CROSS-CLOUD AUTOMATIC INGEST
EP3789985A4 (en) AUTOMATIC PARKING SYSTEM
DK3844147T3 (en) CONNECTIONS
EP3766323A4 (en) AUTOMATIC DRIVING SYSTEM
EP4032782A4 (en) TRAIN CONTROL SYSTEM
EP4359725A4 (en) CONNECTION SYSTEM
EP4159178A4 (en) INSPECTION SYSTEM
EP4226225C0 (en) LINE SPACING SYSTEM
EP4096551C0 (en) SYSTEM
EP4141421A4 (en) INSPECTION SYSTEM
EP4389485A4 (en) TRANSMISSION SYSTEM
EP4372438A4 (en) OPTICAL CONNECTION SYSTEM
EP4557571A4 (en) SYSTEM
EP4198208A4 (en) AUTOMATIC CHARGING SYSTEM
EP4426169C0 (en) CONNECTION SYSTEM
IL309849A (en) Automatic device
EP4222989C0 (en) TRANCTION SYSTEM
EP4657698A4 (en) MICRONET SYSTEM
EP4082867C0 (en) AUTOMATIC CAMERA INSPECTION SYSTEM
EP4502879A4 (en) SYSTEM
EP4276039A4 (en) AUTOMATIC ANALYSIS SYSTEM
EP4306188C0 (en) INSPECTION SYSTEM
EP4135865A4 (en) RETROSPORT SYSTEM
EP4182579C0 (en) TRANSMISSION SYSTEM

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20210208

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

A4 Supplementary search report drawn up and despatched

Effective date: 20220314

RIC1 Information provided on ipc code assigned before grant

Ipc: G01B 11/24 20060101ALN20220308BHEP

Ipc: B24B 19/26 20060101ALI20220308BHEP

Ipc: G05B 19/42 20060101ALI20220308BHEP

Ipc: B25J 11/00 20060101ALI20220308BHEP

Ipc: B24B 27/00 20060101ALI20220308BHEP

Ipc: B25J 9/16 20060101ALI20220308BHEP

Ipc: B25J 9/22 20060101AFI20220308BHEP

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20240206

REG Reference to a national code

Ref country code: DE

Ref legal event code: R003

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN REFUSED

18R Application refused

Effective date: 20250918